dbdxnuliba的博客

https://www.sohu.com/a/273547052_100007727

视觉SLAM十四讲第九章0.4代码注释https://blog.csdn.net/qq_35590091/article/details/97111744

floatdd1=float(d1)/5000.0;此处来自高翔博士课程代码，说明下，图片来自TUM数据集，用OpenNI采集的图像TUM数据集的说明,5000是一个比例系数：

catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release否则会imu频率发布不稳定。

sudo apt-get install build-essentialsudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-devsudo apt-get install python-dev python-numpy libtbb2 libtbb-dev libjpeg-dev libpng-dev libtiff-dev libjasper-dev lib.

dell webcam先vmware设置当中选中usb相关的三个选项然后启动相应的虚拟机系统先lsusb找不到之后虚拟机->可移动设备->摄像头设备（Microdia Integrated WebCam_HD）->断开连接（连接主机）然后快速在终端输入dmesg[ 22.182059] sched: RT throttling activated[...